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<div class="title">extract_polygonal_prism_data.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_SEGMENTATION_IMPL_EXTRACT_POLYGONAL_PRISM_DATA_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_SEGMENTATION_IMPL_EXTRACT_POLYGONAL_PRISM_DATA_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/segmentation/extract_polygonal_prism_data.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="centroid_8h.html">pcl/common/centroid.h</a>&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/common/eigen.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;pcl::isPointIn2DPolygon (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;polygon)</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="comment">// Compute the plane coefficients</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  Eigen::Vector4f model_coefficients;</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  Eigen::Vector4f xyz_centroid;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <a class="code" href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">computeMeanAndCovarianceMatrix</a> (polygon, covariance_matrix, xyz_centroid);</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="comment">// Compute the model coefficients</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  EIGEN_ALIGN16 Eigen::Vector3f::Scalar eigen_value;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  EIGEN_ALIGN16 Eigen::Vector3f eigen_vector;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <a class="code" href="group__common.html#gaca873868052e7d26efcf4b684a17bef2">eigen33</a> (covariance_matrix, eigen_value, eigen_vector);</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  model_coefficients[0] = eigen_vector [0];</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  model_coefficients[1] = eigen_vector [1];</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  model_coefficients[2] = eigen_vector [2];</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  model_coefficients[3] = 0;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="comment">// Hessian form (D = nc . p_plane (centroid here) + p)</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  model_coefficients[3] = -1 * model_coefficients.dot (xyz_centroid);</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keywordtype">float</span> distance_to_plane = model_coefficients[0] * point.x +</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;                            model_coefficients[1] * point.y +</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;                            model_coefficients[2] * point.z +</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;                            model_coefficients[3];</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> ppoint;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="comment">// Calculate the projection of the point on the plane</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  ppoint.x = point.x - distance_to_plane * model_coefficients[0];</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  ppoint.y = point.y - distance_to_plane * model_coefficients[1];</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  ppoint.z = point.z - distance_to_plane * model_coefficients[2];</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="comment">// Create a X-Y projected representation for within bounds polygonal checking</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keywordtype">int</span> k0, k1, k2;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="comment">// Determine the best plane to project points onto</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  k0 = (fabs (model_coefficients[0] ) &gt; fabs (model_coefficients[1])) ? 0  : 1;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  k0 = (fabs (model_coefficients[k0]) &gt; fabs (model_coefficients[2])) ? k0 : 2;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  k1 = (k0 + 1) % 3;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  k2 = (k0 + 2) % 3;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <span class="comment">// Project the convex hull</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> xy_polygon;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  xy_polygon.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (polygon.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; polygon.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  {</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    Eigen::Vector4f pt (polygon.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x, polygon.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y, polygon.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z, 0);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    xy_polygon.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x = pt[k1];</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    xy_polygon.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y = pt[k2];</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    xy_polygon.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z = 0;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  }</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> xy_point;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  xy_point.z = 0;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  Eigen::Vector4f pt (ppoint.x, ppoint.y, ppoint.z, 0);</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  xy_point.x = pt[k1];</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  xy_point.y = pt[k2];</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <span class="keywordflow">return</span> (pcl::isXYPointIn2DXYPolygon (xy_point, xy_polygon));</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;}</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;pcl::isXYPointIn2DXYPolygon (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;polygon)</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;{</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="keywordtype">bool</span> in_poly = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <span class="keywordtype">double</span> x1, x2, y1, y2;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  <span class="keywordtype">int</span> nr_poly_points = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (polygon.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  <span class="comment">// start with the last point to make the check last point&lt;-&gt;first point the first one</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keywordtype">double</span> xold = polygon.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[nr_poly_points - 1].x;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="keywordtype">double</span> yold = polygon.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[nr_poly_points - 1].y;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; nr_poly_points; i++)</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  {</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <span class="keywordtype">double</span> xnew = polygon.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <span class="keywordtype">double</span> ynew = polygon.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="keywordflow">if</span> (xnew &gt; xold)</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    {</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      x1 = xold;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      x2 = xnew;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      y1 = yold;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      y2 = ynew;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    {</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      x1 = xnew;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      x2 = xold;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      y1 = ynew;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      y2 = yold;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    }</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    <span class="keywordflow">if</span> ( (xnew &lt; point.x) == (point.x &lt;= xold) &amp;&amp; (point.y - y1) * (x2 - x1) &lt; (y2 - y1) * (point.x - x1) )</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    {</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      in_poly = !in_poly;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    }</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    xold = xnew;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    yold = ynew;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  }</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  <span class="keywordflow">return</span> (in_poly);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;}</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="classpcl_1_1_extract_polygonal_prism_data.html#afb87a3bf0a0bf17458e197409f2210aa">  148</a></span>&#160;<a class="code" href="classpcl_1_1_extract_polygonal_prism_data.html#afb87a3bf0a0bf17458e197409f2210aa">pcl::ExtractPolygonalPrismData&lt;PointT&gt;::segment</a> (<a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;output)</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;{</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  output.header = input_-&gt;header;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  <span class="keywordflow">if</span> (!initCompute ())</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  {</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    output.indices.clear ();</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  }</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  <span class="keywordflow">if</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (planar_hull_-&gt;points.size ()) &lt; min_pts_hull_)</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  {</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::segment] Not enough points (%lu) in the hull!\n&quot;</span>, getClassName ().c_str (), planar_hull_-&gt;points.size ());</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    output.indices.clear ();</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  }</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  <span class="comment">// Compute the plane coefficients</span></div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  Eigen::Vector4f model_coefficients;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  Eigen::Vector4f xyz_centroid;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  <a class="code" href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">computeMeanAndCovarianceMatrix</a> (*planar_hull_, covariance_matrix, xyz_centroid);</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  <span class="comment">// Compute the model coefficients</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  EIGEN_ALIGN16 Eigen::Vector3f::Scalar eigen_value;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  EIGEN_ALIGN16 Eigen::Vector3f eigen_vector;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  <a class="code" href="group__common.html#gaca873868052e7d26efcf4b684a17bef2">eigen33</a> (covariance_matrix, eigen_value, eigen_vector);</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  model_coefficients[0] = eigen_vector [0];</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  model_coefficients[1] = eigen_vector [1];</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  model_coefficients[2] = eigen_vector [2];</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  model_coefficients[3] = 0;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <span class="comment">// Hessian form (D = nc . p_plane (centroid here) + p)</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  model_coefficients[3] = -1 * model_coefficients.dot (xyz_centroid);</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="classpcl_1_1_extract_polygonal_prism_data.html#afb87a3bf0a0bf17458e197409f2210aa">  185</a></span>&#160;  <span class="comment">// Need to flip the plane normal towards the viewpoint</span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  Eigen::Vector4f vp (vpx_, vpy_, vpz_, 0);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  <span class="comment">// See if we need to flip any plane normals</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  vp -= planar_hull_-&gt;points[0].getVector4fMap ();</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  vp[3] = 0;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  <span class="comment">// Dot product between the (viewpoint - point) and the plane normal</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  <span class="keywordtype">float</span> cos_theta = vp.dot (model_coefficients);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  <span class="comment">// Flip the plane normal</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  <span class="keywordflow">if</span> (cos_theta &lt; 0)</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  {</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    model_coefficients *= -1;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    model_coefficients[3] = 0;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    <span class="comment">// Hessian form (D = nc . p_plane (centroid here) + p)</span></div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    model_coefficients[3] = -1 * (model_coefficients.dot (planar_hull_-&gt;points[0].getVector4fMap ()));</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  }</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  <span class="comment">// Project all points</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> projected_points;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  <a class="code" href="classpcl_1_1_sample_consensus_model_plane.html">SampleConsensusModelPlane&lt;PointT&gt;</a> sacmodel (input_);</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  sacmodel.projectPoints (*indices_, model_coefficients, projected_points, <span class="keyword">false</span>);</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  <span class="comment">// Create a X-Y projected representation for within bounds polygonal checking</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  <span class="keywordtype">int</span> k0, k1, k2;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  <span class="comment">// Determine the best plane to project points onto</span></div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  k0 = (fabs (model_coefficients[0] ) &gt; fabs (model_coefficients[1])) ? 0  : 1;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  k0 = (fabs (model_coefficients[k0]) &gt; fabs (model_coefficients[2])) ? k0 : 2;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  k1 = (k0 + 1) % 3;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  k2 = (k0 + 2) % 3;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  <span class="comment">// Project the convex hull</span></div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> polygon;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  polygon.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (planar_hull_-&gt;points.size ());</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; planar_hull_-&gt;points.size (); ++i)</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  {</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    Eigen::Vector4f pt (planar_hull_-&gt;points[i].x, planar_hull_-&gt;points[i].y, planar_hull_-&gt;points[i].z, 0);</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    polygon.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x = pt[k1];</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    polygon.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y = pt[k2];</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    polygon.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z = 0;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  }</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> pt_xy;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  pt_xy.z = 0;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  output.indices.resize (indices_-&gt;size ());</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  <span class="keywordtype">int</span> l = 0;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; projected_points.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  {</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    <span class="comment">// Check the distance to the user imposed limits from the table planar model</span></div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    <span class="keywordtype">double</span> distance = pointToPlaneDistanceSigned (input_-&gt;points[(*indices_)[i]], model_coefficients);</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    <span class="keywordflow">if</span> (distance &lt; height_limit_min_ || distance &gt; height_limit_max_)</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    <span class="comment">// Check what points are inside the hull</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    Eigen::Vector4f pt (projected_points.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x,</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;                         projected_points.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y,</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;                         projected_points.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z, 0);</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    pt_xy.x = pt[k1];</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    pt_xy.y = pt[k2];</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    <span class="keywordflow">if</span> (!pcl::isXYPointIn2DXYPolygon (pt_xy, polygon))</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160; </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    output.indices[l++] = (*indices_)[i];</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  }</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  output.indices.resize (l);</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  deinitCompute ();</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;}</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_ExtractPolygonalPrismData(T) template class PCL_EXPORTS pcl::ExtractPolygonalPrismData&lt;T&gt;;</span></div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_isPointIn2DPolygon(T) template bool PCL_EXPORTS pcl::isPointIn2DPolygon&lt;T&gt;(const T&amp;, const pcl::PointCloud&lt;T&gt; &amp;);</span></div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_isXYPointIn2DXYPolygon(T) template bool PCL_EXPORTS pcl::isXYPointIn2DXYPolygon&lt;T&gt;(const T &amp;, const pcl::PointCloud&lt;T&gt; &amp;);</span></div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_SEGMENTATION_IMPL_EXTRACT_POLYGONAL_PRISM_DATA_H_</span></div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="ttc" id="acentroid_8h_html"><div class="ttname"><a href="centroid_8h.html">centroid.h</a></div></div>
<div class="ttc" id="aclasspcl_1_1_extract_polygonal_prism_data_html_afb87a3bf0a0bf17458e197409f2210aa"><div class="ttname"><a href="classpcl_1_1_extract_polygonal_prism_data.html#afb87a3bf0a0bf17458e197409f2210aa">pcl::ExtractPolygonalPrismData::segment</a></div><div class="ttdeci">void segment(PointIndices &amp;output)</div><div class="ttdoc">Cluster extraction in a PointCloud given by &lt;setInputCloud (), setIndices ()&gt;</div><div class="ttdef"><b>Definition:</b> extract_polygonal_prism_data.hpp:148</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_plane_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_plane.html">pcl::SampleConsensusModelPlane</a></div><div class="ttdoc">SampleConsensusModelPlane defines a model for 3D plane segmentation. The model coefficients are defin...</div><div class="ttdef"><b>Definition:</b> sac_model_plane.h:137</div></div>
<div class="ttc" id="agroup__common_html_ga72dfb6e965df9752c88790e026a8ab5f"><div class="ttname"><a href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">pcl::computeMeanAndCovarianceMatrix</a></div><div class="ttdeci">unsigned int computeMeanAndCovarianceMatrix(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, Eigen::Matrix&lt; Scalar, 3, 3 &gt; &amp;covariance_matrix, Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid)</div><div class="ttdoc">Compute the normalized 3x3 covariance matrix and the centroid of a given set of points in a single lo...</div><div class="ttdef"><b>Definition:</b> centroid.hpp:489</div></div>
<div class="ttc" id="agroup__common_html_gaca873868052e7d26efcf4b684a17bef2"><div class="ttname"><a href="group__common.html#gaca873868052e7d26efcf4b684a17bef2">pcl::eigen33</a></div><div class="ttdeci">void eigen33(const Matrix &amp;mat, typename Matrix::Scalar &amp;eigenvalue, Vector &amp;eigenvector)</div><div class="ttdoc">determines the eigenvector and eigenvalue of the smallest eigenvalue of the symmetric positive semi d...</div><div class="ttdef"><b>Definition:</b> eigen.hpp:251</div></div>
<div class="ttc" id="astructpcl_1_1_point_indices_html"><div class="ttname"><a href="structpcl_1_1_point_indices.html">pcl::PointIndices</a></div><div class="ttdef"><b>Definition:</b> PointIndices.h:13</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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